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<div class="title">DrawList.cpp</div>  </div>
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<a href="../../d1/d8b/_draw_list_8cpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;</div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="../../df/d65/_draw_list_8h.html">DrawList.h</a>&quot;</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;</div><div class="line"><a name="l00010"></a><span class="lineno"><a class="line" href="../../d1/d03/class_draw_list.html#a1d0a9f2596e5ade6c5be2668151c9e90">   10</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="../../d1/d03/class_draw_list.html#a1d0a9f2596e5ade6c5be2668151c9e90">DrawList::loadFiles</a>() {</div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;  printf(<span class="stringliteral">&quot;[DrawList] Load object files...\n&quot;</span>);</div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;  std::vector&lt;std::string&gt; names = {</div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;      <span class="stringliteral">&quot;c3_body.obj&quot;</span>,         <span class="stringliteral">&quot;mini_abad.obj&quot;</span>,</div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;      <span class="stringliteral">&quot;c3_upper_link.obj&quot;</span>,   <span class="stringliteral">&quot;c3_lower_link.obj&quot;</span>,</div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;      <span class="stringliteral">&quot;mini_body.obj&quot;</span>,       <span class="stringliteral">&quot;mini_abad.obj&quot;</span>,</div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;      <span class="stringliteral">&quot;mini_upper_link.obj&quot;</span>, <span class="stringliteral">&quot;mini_lower_link.obj&quot;</span>,</div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;      <span class="stringliteral">&quot;sphere.obj&quot;</span>,          <span class="stringliteral">&quot;cube.obj&quot;</span>};</div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;  <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; name : names) {</div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;    std::string filename = <a class="code" href="../../d1/d03/class_draw_list.html#af816f551087099f49eb2cadd26ce0d05">_baseFileName</a> + name;</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;    <a class="code" href="../../d1/d03/class_draw_list.html#aac717d947f5534d6a8e3bbec220c5e42">_vertexData</a>.emplace_back();</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;    <a class="code" href="../../d1/d03/class_draw_list.html#a92618f3f33e825129a15eaf918a51ed3">_normalData</a>.emplace_back();</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;    <a class="code" href="../../d1/d03/class_draw_list.html#af0fc9c2f4849455032d374fa46cddb1c">_colorData</a>.emplace_back();</div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;    <a class="code" href="../../d3/d01/obj__loader_8h.html#af0c13a542631bc5a1d069bb4e3c81f1a">load_obj_file</a>(filename, <a class="code" href="../../d1/d03/class_draw_list.html#aac717d947f5534d6a8e3bbec220c5e42">_vertexData</a>.back(), <a class="code" href="../../d1/d03/class_draw_list.html#a92618f3f33e825129a15eaf918a51ed3">_normalData</a>.back());</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;    <span class="keywordflow">if</span> (name == <span class="stringliteral">&quot;sphere.obj&quot;</span>) {</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;      <a class="code" href="../../d1/d03/class_draw_list.html#a16f13d471f1d2559b64e204b4e686589">setSolidColor</a>(<a class="code" href="../../d1/d03/class_draw_list.html#af0fc9c2f4849455032d374fa46cddb1c">_colorData</a>.back(), <a class="code" href="../../d1/d03/class_draw_list.html#aac717d947f5534d6a8e3bbec220c5e42">_vertexData</a>.back().size(),</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;                    <a class="code" href="../../dc/daa/_colors_8h.html#a81bfc1a5e34197f972f21ae97cb7c073">debugRedColor</a>[0], <a class="code" href="../../dc/daa/_colors_8h.html#a81bfc1a5e34197f972f21ae97cb7c073">debugRedColor</a>[1], debugRedColor[2]);</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;    } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (name == <span class="stringliteral">&quot;cube.obj&quot;</span>) {</div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;      <a class="code" href="../../d1/d03/class_draw_list.html#a16f13d471f1d2559b64e204b4e686589">setSolidColor</a>(<a class="code" href="../../d1/d03/class_draw_list.html#af0fc9c2f4849455032d374fa46cddb1c">_colorData</a>.back(), <a class="code" href="../../d1/d03/class_draw_list.html#aac717d947f5534d6a8e3bbec220c5e42">_vertexData</a>.back().size(),</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;                    <a class="code" href="../../dc/daa/_colors_8h.html#aca0db2f017237817ca87b94ac518ab7e">disgustingGreen</a>[0], <a class="code" href="../../dc/daa/_colors_8h.html#aca0db2f017237817ca87b94ac518ab7e">disgustingGreen</a>[1], disgustingGreen[2]);</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;    } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;      <a class="code" href="../../d1/d03/class_draw_list.html#a16f13d471f1d2559b64e204b4e686589">setSolidColor</a>(<a class="code" href="../../d1/d03/class_draw_list.html#af0fc9c2f4849455032d374fa46cddb1c">_colorData</a>.back(), <a class="code" href="../../d1/d03/class_draw_list.html#aac717d947f5534d6a8e3bbec220c5e42">_vertexData</a>.back().size(),</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;                    <a class="code" href="../../dc/daa/_colors_8h.html#a6b2a4b96f76b3e341cb6fe1b903d7aa0">defaultRobotColor</a>[0], <a class="code" href="../../dc/daa/_colors_8h.html#a6b2a4b96f76b3e341cb6fe1b903d7aa0">defaultRobotColor</a>[1],</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;                    defaultRobotColor[2]);</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;    }</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;    <a class="code" href="../../d1/d03/class_draw_list.html#ab241d86da769852f39be6c5fb4018b9a">_nUnique</a>++;</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;  }</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;  <a class="code" href="../../d1/d03/class_draw_list.html#a9ff0790fe3a16cc5fee352c4116414ac">_sphereLoadIndex</a> = 8;</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;  <a class="code" href="../../d1/d03/class_draw_list.html#ab7b145e8b2cf992be852dde3a4c7a9c8">_cubeLoadIndex</a> = 9;</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;  <a class="code" href="../../d1/d03/class_draw_list.html#ad45340cafc75f87ba4f9b90c8f77842c">_miniCheetahLoadIndex</a> = 4;</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;  <a class="code" href="../../d1/d03/class_draw_list.html#a38970d37beb7a2dab2355cc718609aae">_cheetah3LoadIndex</a> = 0;</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;}</div><div class="line"><a name="l00048"></a><span class="lineno"><a class="line" href="../../d1/d03/class_draw_list.html#a1b2d94c539ac6c6e1f4ec3fb859888c9">   48</a></span>&#160;<span class="keywordtype">size_t</span> <a class="code" href="../../d1/d03/class_draw_list.html#a1b2d94c539ac6c6e1f4ec3fb859888c9">DrawList::addCheetah3</a>(<a class="code" href="../../d9/d8e/cpp_types_8h.html#a738072d0d6a7a632be68f6261501826b">Vec4&lt;float&gt;</a> color, <span class="keywordtype">bool</span> useOld) {</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  <span class="keywordtype">size_t</span> i0 = <a class="code" href="../../d1/d03/class_draw_list.html#a38970d37beb7a2dab2355cc718609aae">_cheetah3LoadIndex</a>;</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  <span class="keywordtype">size_t</span> j0 = <a class="code" href="../../d1/d03/class_draw_list.html#a628aebbc6b46de8b1ab493cbe9ab7d89">_nTotal</a>;</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  <span class="comment">// set model offsets:</span></div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  QMatrix4x4 bodyOffset, abadOffset, lowerOffset, eye;</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  eye.setToIdentity();</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  QMatrix4x4 upperOffsets[2];</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  <span class="comment">// body</span></div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  bodyOffset.setToIdentity();</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  bodyOffset.rotate(90, 1, 0, 0);</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  bodyOffset.rotate(90, 0, 0, 1);</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  <span class="comment">// abad</span></div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  abadOffset.setToIdentity();</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  <span class="comment">// upper link</span></div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  upperOffsets[0].setToIdentity();</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;  upperOffsets[0].rotate(-180, 0, 1, 0);</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  upperOffsets[0].translate(0, -.045<a class="code" href="../../dc/dd7/test__casadi_8cpp.html#ae20d7fba59865a21504b65cdb44cbfe5">f</a>, 0);</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;  upperOffsets[0].rotate(-180, 0, 0, 1);</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;  upperOffsets[1].setToIdentity();</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  upperOffsets[1].rotate(-180, 0, 1, 0);</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;  upperOffsets[1].translate(0, .045<a class="code" href="../../dc/dd7/test__casadi_8cpp.html#ae20d7fba59865a21504b65cdb44cbfe5">f</a>, 0);</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;  lowerOffset.setToIdentity();</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  lowerOffset.rotate(180, 0, 1, 0);</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;  lowerOffset.translate(0, 0, 0);</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;  <a class="code" href="../../d9/da5/struct_solid_color.html">SolidColor</a> bodyColor, abadColor, link1Color, link2Color;</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  bodyColor.<a class="code" href="../../d9/da5/struct_solid_color.html#adc4e36b1041c32cb7f421da84c9f0fe5">rgba</a> = useOld ? <a class="code" href="../../d9/d8e/cpp_types_8h.html#a738072d0d6a7a632be68f6261501826b">Vec4&lt;float&gt;</a>(.2, .2, .2, .6) : color;</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;  bodyColor.<a class="code" href="../../d9/da5/struct_solid_color.html#a0ca2ec6cd9c381c967ce213d425fae39">useSolidColor</a> = <span class="keyword">true</span>;</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;  abadColor.<a class="code" href="../../d9/da5/struct_solid_color.html#adc4e36b1041c32cb7f421da84c9f0fe5">rgba</a> = useOld ? Vec4&lt;float&gt;(.3, .2, .2, .6) : color;</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;  abadColor.<a class="code" href="../../d9/da5/struct_solid_color.html#a0ca2ec6cd9c381c967ce213d425fae39">useSolidColor</a> = <span class="keyword">true</span>;</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;  link1Color.<a class="code" href="../../d9/da5/struct_solid_color.html#adc4e36b1041c32cb7f421da84c9f0fe5">rgba</a> = useOld ? Vec4&lt;float&gt;(.2, .3, .2, .6) : color;</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;  link1Color.<a class="code" href="../../d9/da5/struct_solid_color.html#a0ca2ec6cd9c381c967ce213d425fae39">useSolidColor</a> = <span class="keyword">true</span>;</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;  link2Color.<a class="code" href="../../d9/da5/struct_solid_color.html#adc4e36b1041c32cb7f421da84c9f0fe5">rgba</a> = useOld ? Vec4&lt;float&gt;(.2, .2, .3, .6) : color;</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  link2Color.<a class="code" href="../../d9/da5/struct_solid_color.html#a0ca2ec6cd9c381c967ce213d425fae39">useSolidColor</a> = <span class="keyword">true</span>;</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;  <span class="comment">// add bodies</span></div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;  <a class="code" href="../../d1/d03/class_draw_list.html#a898088086b85b7f6a37b9237fbcc5ab6">_objectMap</a>.push_back(i0 + 0);</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;  <a class="code" href="../../d1/d03/class_draw_list.html#ae25a70da628ea394f2ba1309532c74ed">_modelOffsets</a>.push_back(bodyOffset);</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;  <a class="code" href="../../d1/d03/class_draw_list.html#aae457f1b062620bc3a23d94d9397a49b">_kinematicXform</a>.push_back(eye);</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;  <a class="code" href="../../d1/d03/class_draw_list.html#ad7d97925f1406d116bbbb31f53c2da88">_instanceColor</a>.push_back(bodyColor);</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;  <a class="code" href="../../d1/d03/class_draw_list.html#a628aebbc6b46de8b1ab493cbe9ab7d89">_nTotal</a>++;</div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;</div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; 4; i++) {</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;    <a class="code" href="../../d1/d03/class_draw_list.html#a898088086b85b7f6a37b9237fbcc5ab6">_objectMap</a>.push_back(i0 + 1);</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;    <a class="code" href="../../d1/d03/class_draw_list.html#ae25a70da628ea394f2ba1309532c74ed">_modelOffsets</a>.push_back(abadOffset);</div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;    <a class="code" href="../../d1/d03/class_draw_list.html#aae457f1b062620bc3a23d94d9397a49b">_kinematicXform</a>.push_back(eye);</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;    <a class="code" href="../../d1/d03/class_draw_list.html#ad7d97925f1406d116bbbb31f53c2da88">_instanceColor</a>.push_back(abadColor);</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;</div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;    <a class="code" href="../../d1/d03/class_draw_list.html#a898088086b85b7f6a37b9237fbcc5ab6">_objectMap</a>.push_back(i0 + 2);</div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;    <a class="code" href="../../d1/d03/class_draw_list.html#ae25a70da628ea394f2ba1309532c74ed">_modelOffsets</a>.push_back(upperOffsets[i % 2]);</div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;    <a class="code" href="../../d1/d03/class_draw_list.html#aae457f1b062620bc3a23d94d9397a49b">_kinematicXform</a>.push_back(eye);</div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;    <a class="code" href="../../d1/d03/class_draw_list.html#ad7d97925f1406d116bbbb31f53c2da88">_instanceColor</a>.push_back(link1Color);</div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;</div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;    <a class="code" href="../../d1/d03/class_draw_list.html#a898088086b85b7f6a37b9237fbcc5ab6">_objectMap</a>.push_back(i0 + 3);</div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;    <a class="code" href="../../d1/d03/class_draw_list.html#ae25a70da628ea394f2ba1309532c74ed">_modelOffsets</a>.push_back(lowerOffset);</div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;    <a class="code" href="../../d1/d03/class_draw_list.html#aae457f1b062620bc3a23d94d9397a49b">_kinematicXform</a>.push_back(eye);</div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;    <a class="code" href="../../d1/d03/class_draw_list.html#ad7d97925f1406d116bbbb31f53c2da88">_instanceColor</a>.push_back(link2Color);</div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;    <a class="code" href="../../d1/d03/class_draw_list.html#a628aebbc6b46de8b1ab493cbe9ab7d89">_nTotal</a> += 3;</div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;  }</div><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;</div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;  printf(<span class="stringliteral">&quot;size of kinematicXform: %lu, j0: %lu\n&quot;</span>, <a class="code" href="../../d1/d03/class_draw_list.html#aae457f1b062620bc3a23d94d9397a49b">_kinematicXform</a>.size(), j0);</div><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;</div><div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;  <a class="code" href="../../d1/d03/class_draw_list.html#a792c90bc3c128f684bd62928b24d2d38">buildDrawList</a>();</div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;  <span class="keywordflow">return</span> j0;</div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;}</div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;</div><div class="line"><a name="l00129"></a><span class="lineno"><a class="line" href="../../d1/d03/class_draw_list.html#a89c4a0327553343171fe6d948679f78c">  129</a></span>&#160;<span class="keywordtype">size_t</span> <a class="code" href="../../d1/d03/class_draw_list.html#a89c4a0327553343171fe6d948679f78c">DrawList::addMiniCheetah</a>(<a class="code" href="../../d9/d8e/cpp_types_8h.html#a738072d0d6a7a632be68f6261501826b">Vec4&lt;float&gt;</a> color, <span class="keywordtype">bool</span> useOld) {</div><div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;  <span class="keywordtype">size_t</span> i0 = <a class="code" href="../../d1/d03/class_draw_list.html#ad45340cafc75f87ba4f9b90c8f77842c">_miniCheetahLoadIndex</a>;  <span class="comment">// todo don&#39;t hard code this</span></div><div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;  <span class="keywordtype">size_t</span> j0 = <a class="code" href="../../d1/d03/class_draw_list.html#a628aebbc6b46de8b1ab493cbe9ab7d89">_nTotal</a>;</div><div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;</div><div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;  <span class="comment">// set model offsets:</span></div><div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;  QMatrix4x4 bodyOffset, upper, lower, eye;</div><div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;  QMatrix4x4 abadOffsets[4];</div><div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;  eye.setToIdentity();</div><div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;</div><div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;  <span class="comment">// body</span></div><div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;  bodyOffset.setToIdentity();</div><div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;</div><div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;  <span class="comment">// abads (todo, check these)</span></div><div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;  abadOffsets[0].setToIdentity();  <span class="comment">// n</span></div><div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;  abadOffsets[0].rotate(-90, 0, 0, 1);</div><div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;  abadOffsets[0].translate(0, -.0565<a class="code" href="../../dc/dd7/test__casadi_8cpp.html#ae20d7fba59865a21504b65cdb44cbfe5">f</a>, 0);</div><div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;  abadOffsets[0].rotate(180, 0, 1, 0);</div><div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;</div><div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;  abadOffsets[1].setToIdentity();  <span class="comment">// p</span></div><div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;  abadOffsets[1].rotate(-90, 0, 0, 1);</div><div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;  abadOffsets[1].translate(0, -.0565<a class="code" href="../../dc/dd7/test__casadi_8cpp.html#ae20d7fba59865a21504b65cdb44cbfe5">f</a>, 0);</div><div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;  abadOffsets[1].rotate(0, 0, 1, 0);</div><div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;</div><div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;  abadOffsets[2].setToIdentity();  <span class="comment">// n</span></div><div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;  abadOffsets[2].rotate(90, 0, 0, 1);</div><div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;  abadOffsets[2].translate(0, -.0565<a class="code" href="../../dc/dd7/test__casadi_8cpp.html#ae20d7fba59865a21504b65cdb44cbfe5">f</a>, 0);</div><div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;  abadOffsets[2].rotate(0, 0, 1, 0);</div><div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;</div><div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;  abadOffsets[3].setToIdentity();  <span class="comment">// p</span></div><div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;  abadOffsets[3].rotate(90, 0, 0, 1);</div><div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;  abadOffsets[3].translate(0, -.0565<a class="code" href="../../dc/dd7/test__casadi_8cpp.html#ae20d7fba59865a21504b65cdb44cbfe5">f</a>, 0);</div><div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;  abadOffsets[3].rotate(180, 0, 1, 0);</div><div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;</div><div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;  <span class="comment">// upper</span></div><div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;  upper.setToIdentity();</div><div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;  upper.rotate(-90, 0, 1, 0);</div><div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;</div><div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;  <span class="comment">// lower</span></div><div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;  lower.setToIdentity();</div><div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;  lower.rotate(180, 0, 1, 0);</div><div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;</div><div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;  <a class="code" href="../../d9/da5/struct_solid_color.html">SolidColor</a> bodyColor, abadColor, link1Color, link2Color;</div><div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;  bodyColor.<a class="code" href="../../d9/da5/struct_solid_color.html#adc4e36b1041c32cb7f421da84c9f0fe5">rgba</a> = useOld ? <a class="code" href="../../d9/d8e/cpp_types_8h.html#a738072d0d6a7a632be68f6261501826b">Vec4&lt;float&gt;</a>(.2, .2, .2, .6) : color;</div><div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;  bodyColor.<a class="code" href="../../d9/da5/struct_solid_color.html#a0ca2ec6cd9c381c967ce213d425fae39">useSolidColor</a> = <span class="keyword">true</span>;</div><div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;</div><div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;  abadColor.<a class="code" href="../../d9/da5/struct_solid_color.html#adc4e36b1041c32cb7f421da84c9f0fe5">rgba</a> = useOld ? Vec4&lt;float&gt;(.3, .2, .2, .6) : color;</div><div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;  abadColor.<a class="code" href="../../d9/da5/struct_solid_color.html#a0ca2ec6cd9c381c967ce213d425fae39">useSolidColor</a> = <span class="keyword">true</span>;</div><div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;</div><div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;  link1Color.<a class="code" href="../../d9/da5/struct_solid_color.html#adc4e36b1041c32cb7f421da84c9f0fe5">rgba</a> = useOld ? Vec4&lt;float&gt;(.2, .3, .2, .6) : color;</div><div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;  link1Color.<a class="code" href="../../d9/da5/struct_solid_color.html#a0ca2ec6cd9c381c967ce213d425fae39">useSolidColor</a> = <span class="keyword">true</span>;</div><div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;</div><div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;  link2Color.<a class="code" href="../../d9/da5/struct_solid_color.html#adc4e36b1041c32cb7f421da84c9f0fe5">rgba</a> = useOld ? Vec4&lt;float&gt;(.2, .2, .3, .6) : color;</div><div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;  link2Color.<a class="code" href="../../d9/da5/struct_solid_color.html#a0ca2ec6cd9c381c967ce213d425fae39">useSolidColor</a> = <span class="keyword">true</span>;</div><div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;</div><div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;  <span class="comment">// add objects</span></div><div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;  <a class="code" href="../../d1/d03/class_draw_list.html#a898088086b85b7f6a37b9237fbcc5ab6">_objectMap</a>.push_back(i0 + 0);</div><div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;  <a class="code" href="../../d1/d03/class_draw_list.html#ae25a70da628ea394f2ba1309532c74ed">_modelOffsets</a>.push_back(bodyOffset);</div><div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;  <a class="code" href="../../d1/d03/class_draw_list.html#aae457f1b062620bc3a23d94d9397a49b">_kinematicXform</a>.push_back(eye);</div><div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;  <a class="code" href="../../d1/d03/class_draw_list.html#ad7d97925f1406d116bbbb31f53c2da88">_instanceColor</a>.push_back(bodyColor);</div><div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;  <a class="code" href="../../d1/d03/class_draw_list.html#a628aebbc6b46de8b1ab493cbe9ab7d89">_nTotal</a>++;</div><div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;</div><div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; 4; i++) {</div><div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;    <a class="code" href="../../d1/d03/class_draw_list.html#a898088086b85b7f6a37b9237fbcc5ab6">_objectMap</a>.push_back(i0 + 1);</div><div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;    <a class="code" href="../../d1/d03/class_draw_list.html#ae25a70da628ea394f2ba1309532c74ed">_modelOffsets</a>.push_back(abadOffsets[i]);</div><div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;    <a class="code" href="../../d1/d03/class_draw_list.html#aae457f1b062620bc3a23d94d9397a49b">_kinematicXform</a>.push_back(eye);</div><div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;    <a class="code" href="../../d1/d03/class_draw_list.html#ad7d97925f1406d116bbbb31f53c2da88">_instanceColor</a>.push_back(abadColor);</div><div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;</div><div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;    <a class="code" href="../../d1/d03/class_draw_list.html#a898088086b85b7f6a37b9237fbcc5ab6">_objectMap</a>.push_back(i0 + 2);</div><div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;    <a class="code" href="../../d1/d03/class_draw_list.html#ae25a70da628ea394f2ba1309532c74ed">_modelOffsets</a>.push_back(upper);</div><div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;    <a class="code" href="../../d1/d03/class_draw_list.html#aae457f1b062620bc3a23d94d9397a49b">_kinematicXform</a>.push_back(eye);</div><div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;    <a class="code" href="../../d1/d03/class_draw_list.html#ad7d97925f1406d116bbbb31f53c2da88">_instanceColor</a>.push_back(link1Color);</div><div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;</div><div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;    <a class="code" href="../../d1/d03/class_draw_list.html#a898088086b85b7f6a37b9237fbcc5ab6">_objectMap</a>.push_back(i0 + 3);</div><div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;    <a class="code" href="../../d1/d03/class_draw_list.html#ae25a70da628ea394f2ba1309532c74ed">_modelOffsets</a>.push_back(lower);</div><div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;    <a class="code" href="../../d1/d03/class_draw_list.html#aae457f1b062620bc3a23d94d9397a49b">_kinematicXform</a>.push_back(eye);</div><div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;    <a class="code" href="../../d1/d03/class_draw_list.html#ad7d97925f1406d116bbbb31f53c2da88">_instanceColor</a>.push_back(link2Color);</div><div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;    <a class="code" href="../../d1/d03/class_draw_list.html#a628aebbc6b46de8b1ab493cbe9ab7d89">_nTotal</a> += 3;</div><div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;  }</div><div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;  <span class="keywordflow">return</span> j0;</div><div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;}</div><div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;</div><div class="line"><a name="l00215"></a><span class="lineno"><a class="line" href="../../d1/d03/class_draw_list.html#a1df4a5846120d050f009a8736424f221">  215</a></span>&#160;<span class="keywordtype">size_t</span> <a class="code" href="../../d1/d03/class_draw_list.html#a1df4a5846120d050f009a8736424f221">DrawList::addCheckerboard</a>(<a class="code" href="../../df/d89/class_checkerboard.html">Checkerboard</a>&amp; checkerBoard) {</div><div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;  <span class="keywordtype">size_t</span> j0 = <a class="code" href="../../d1/d03/class_draw_list.html#a628aebbc6b46de8b1ab493cbe9ab7d89">_nTotal</a>;</div><div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;  <span class="keywordtype">size_t</span> i0 = <a class="code" href="../../d1/d03/class_draw_list.html#ab241d86da769852f39be6c5fb4018b9a">_nUnique</a>;</div><div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;</div><div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;  <a class="code" href="../../d9/da5/struct_solid_color.html">SolidColor</a> checkerColor;</div><div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;  checkerColor.<a class="code" href="../../d9/da5/struct_solid_color.html#a0ca2ec6cd9c381c967ce213d425fae39">useSolidColor</a> = <span class="keyword">false</span>;</div><div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;</div><div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;  <a class="code" href="../../d1/d03/class_draw_list.html#ab241d86da769852f39be6c5fb4018b9a">_nUnique</a>++;</div><div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;  <span class="comment">// add the object</span></div><div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;  <a class="code" href="../../d1/d03/class_draw_list.html#aac717d947f5534d6a8e3bbec220c5e42">_vertexData</a>.emplace_back();</div><div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;  <a class="code" href="../../d1/d03/class_draw_list.html#a92618f3f33e825129a15eaf918a51ed3">_normalData</a>.emplace_back();</div><div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;  <a class="code" href="../../d1/d03/class_draw_list.html#af0fc9c2f4849455032d374fa46cddb1c">_colorData</a>.emplace_back();</div><div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;  checkerBoard.<a class="code" href="../../df/d89/class_checkerboard.html#a7da009b6e556e016815920ee968efa98">computeVertices</a>(<a class="code" href="../../d1/d03/class_draw_list.html#aac717d947f5534d6a8e3bbec220c5e42">_vertexData</a>.back(), <a class="code" href="../../d1/d03/class_draw_list.html#a92618f3f33e825129a15eaf918a51ed3">_normalData</a>.back(),</div><div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;                               <a class="code" href="../../d1/d03/class_draw_list.html#af0fc9c2f4849455032d374fa46cddb1c">_colorData</a>.back());</div><div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;  QMatrix4x4 eye, offset;</div><div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;  eye.setToIdentity();</div><div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;  offset.setToIdentity();</div><div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;  offset.translate(-checkerBoard.<a class="code" href="../../df/d89/class_checkerboard.html#ac2684bd81769c83fbf0bf2f648a35488">getSize</a>()[0] / 2,</div><div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;                   -checkerBoard.<a class="code" href="../../df/d89/class_checkerboard.html#ac2684bd81769c83fbf0bf2f648a35488">getSize</a>()[1] / 2);</div><div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;  <a class="code" href="../../d1/d03/class_draw_list.html#ae25a70da628ea394f2ba1309532c74ed">_modelOffsets</a>.push_back(offset);</div><div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;  <a class="code" href="../../d1/d03/class_draw_list.html#aae457f1b062620bc3a23d94d9397a49b">_kinematicXform</a>.push_back(eye);</div><div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;  <a class="code" href="../../d1/d03/class_draw_list.html#ad7d97925f1406d116bbbb31f53c2da88">_instanceColor</a>.push_back(checkerColor);</div><div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;</div><div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;  <a class="code" href="../../d1/d03/class_draw_list.html#a628aebbc6b46de8b1ab493cbe9ab7d89">_nTotal</a>++;</div><div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;  <span class="comment">// add the instance</span></div><div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;  <a class="code" href="../../d1/d03/class_draw_list.html#a898088086b85b7f6a37b9237fbcc5ab6">_objectMap</a>.push_back(i0);</div><div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;  <span class="keywordflow">return</span> j0;</div><div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;}</div><div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;</div><div class="line"><a name="l00247"></a><span class="lineno"><a class="line" href="../../d1/d03/class_draw_list.html#af096ad7104a7736270eb50ae519497e4">  247</a></span>&#160;<span class="keywordtype">size_t</span> <a class="code" href="../../d1/d03/class_draw_list.html#af096ad7104a7736270eb50ae519497e4">DrawList::addDebugSphere</a>(<span class="keywordtype">float</span> radius) {</div><div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;  assert(<span class="keyword">false</span>);</div><div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;  <span class="keywordtype">size_t</span> j0 = <a class="code" href="../../d1/d03/class_draw_list.html#a628aebbc6b46de8b1ab493cbe9ab7d89">_nTotal</a>;</div><div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;</div><div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;  QMatrix4x4 offset;</div><div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;  offset.setToIdentity();</div><div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;  <a class="code" href="../../d1/d03/class_draw_list.html#aae457f1b062620bc3a23d94d9397a49b">_kinematicXform</a>.push_back(offset);</div><div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;  offset.scale(radius);</div><div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;  <a class="code" href="../../d1/d03/class_draw_list.html#ae25a70da628ea394f2ba1309532c74ed">_modelOffsets</a>.push_back(offset);</div><div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;</div><div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;  <a class="code" href="../../d1/d03/class_draw_list.html#a628aebbc6b46de8b1ab493cbe9ab7d89">_nTotal</a>++;</div><div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;  <a class="code" href="../../d1/d03/class_draw_list.html#a898088086b85b7f6a37b9237fbcc5ab6">_objectMap</a>.push_back(<a class="code" href="../../d1/d03/class_draw_list.html#a9ff0790fe3a16cc5fee352c4116414ac">_sphereLoadIndex</a>);</div><div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;  <span class="keywordflow">return</span> j0;</div><div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;}</div><div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;</div><div class="line"><a name="l00266"></a><span class="lineno"><a class="line" href="../../d1/d03/class_draw_list.html#a792c90bc3c128f684bd62928b24d2d38">  266</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="../../d1/d03/class_draw_list.html#a792c90bc3c128f684bd62928b24d2d38">DrawList::buildDrawList</a>() {</div><div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;  <a class="code" href="../../d1/d03/class_draw_list.html#ac33dd1399010f7b75c05bb317d9b55fd">_glVertexData</a>.clear();</div><div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;  <a class="code" href="../../d1/d03/class_draw_list.html#ac0aef2cc2264ca1235162615896ea0ef">_glColorData</a>.clear();</div><div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;  <a class="code" href="../../d1/d03/class_draw_list.html#a33ecd45565b8f5e0c197401ae123f41d">_glNormalData</a>.clear();</div><div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;  <a class="code" href="../../d1/d03/class_draw_list.html#a41da73cb979627fe8979420c6f5f014b">_glArrayOffsets</a>.clear();</div><div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;  <a class="code" href="../../d1/d03/class_draw_list.html#ace6ada04eae854e63363b6b0bb73aa5f">_glArraySizes</a>.clear();</div><div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;</div><div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; <a class="code" href="../../d1/d03/class_draw_list.html#ab241d86da769852f39be6c5fb4018b9a">_nUnique</a>; i++) {</div><div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;    <a class="code" href="../../d1/d03/class_draw_list.html#a41da73cb979627fe8979420c6f5f014b">_glArrayOffsets</a>.push_back(<a class="code" href="../../d1/d03/class_draw_list.html#ac33dd1399010f7b75c05bb317d9b55fd">_glVertexData</a>.size());</div><div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;    <a class="code" href="../../d1/d03/class_draw_list.html#ace6ada04eae854e63363b6b0bb73aa5f">_glArraySizes</a>.push_back(<a class="code" href="../../d1/d03/class_draw_list.html#aac717d947f5534d6a8e3bbec220c5e42">_vertexData</a>.at(i).size());</div><div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;    <span class="comment">// add the data for the objects</span></div><div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;    <a class="code" href="../../d1/d03/class_draw_list.html#ac33dd1399010f7b75c05bb317d9b55fd">_glVertexData</a>.insert(<a class="code" href="../../d1/d03/class_draw_list.html#ac33dd1399010f7b75c05bb317d9b55fd">_glVertexData</a>.end(), <a class="code" href="../../d1/d03/class_draw_list.html#aac717d947f5534d6a8e3bbec220c5e42">_vertexData</a>.at(i).begin(),</div><div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;                         <a class="code" href="../../d1/d03/class_draw_list.html#aac717d947f5534d6a8e3bbec220c5e42">_vertexData</a>.at(i).end());</div><div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;    <a class="code" href="../../d1/d03/class_draw_list.html#ac0aef2cc2264ca1235162615896ea0ef">_glColorData</a>.insert(<a class="code" href="../../d1/d03/class_draw_list.html#ac0aef2cc2264ca1235162615896ea0ef">_glColorData</a>.end(), <a class="code" href="../../d1/d03/class_draw_list.html#af0fc9c2f4849455032d374fa46cddb1c">_colorData</a>.at(i).begin(),</div><div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;                        <a class="code" href="../../d1/d03/class_draw_list.html#af0fc9c2f4849455032d374fa46cddb1c">_colorData</a>.at(i).end());</div><div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;    <a class="code" href="../../d1/d03/class_draw_list.html#a33ecd45565b8f5e0c197401ae123f41d">_glNormalData</a>.insert(<a class="code" href="../../d1/d03/class_draw_list.html#a33ecd45565b8f5e0c197401ae123f41d">_glNormalData</a>.end(), <a class="code" href="../../d1/d03/class_draw_list.html#a92618f3f33e825129a15eaf918a51ed3">_normalData</a>.at(i).begin(),</div><div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;                         <a class="code" href="../../d1/d03/class_draw_list.html#a92618f3f33e825129a15eaf918a51ed3">_normalData</a>.at(i).end());</div><div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;  }</div><div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;</div><div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;  <a class="code" href="../../d1/d03/class_draw_list.html#a6ad5e2e3e20f024d946f6401bff40db6">_reloadNeeded</a> = <span class="keyword">true</span>;</div><div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;}</div><div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;</div><div class="line"><a name="l00288"></a><span class="lineno"><a class="line" href="../../d1/d03/class_draw_list.html#a9c2c9531b2de18e928fc8d0d20cfb4c7">  288</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="../../d1/d03/class_draw_list.html#a9c2c9531b2de18e928fc8d0d20cfb4c7">DrawList::addBox</a>(<span class="keywordtype">double</span> depth, <span class="keywordtype">double</span> width, <span class="keywordtype">double</span> height,</div><div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;                      <span class="keyword">const</span> <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;double&gt;</a>&amp; pos, <span class="keyword">const</span> <a class="code" href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3&lt;double&gt;</a>&amp; <a class="code" href="../../da/d9b/namespaceori.html">ori</a>,</div><div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;                      <span class="keywordtype">bool</span> transparent) {</div><div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;  <span class="keywordflow">if</span> (transparent) {</div><div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;    <a class="code" href="../../d3/d7a/class_box_info.html">BoxInfo</a> tmp;</div><div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;    tmp.<a class="code" href="../../d3/d7a/class_box_info.html#a5a645c5f04daa64c3a45112b8e654bf9">depth</a> = depth;</div><div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;    tmp.<a class="code" href="../../d3/d7a/class_box_info.html#a71d33a11829ce75ed6a2e3020dccf9fa">width</a> = width;</div><div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;    tmp.<a class="code" href="../../d3/d7a/class_box_info.html#af35d62dc18d3545d719a67132a314315">height</a> = height;</div><div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;</div><div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;    tmp.<a class="code" href="../../d3/d7a/class_box_info.html#aeaecda58b04b05ff6e4f12e0a75eedaa">frame</a>[3] = 0.;</div><div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;    tmp.<a class="code" href="../../d3/d7a/class_box_info.html#aeaecda58b04b05ff6e4f12e0a75eedaa">frame</a>[7] = 0.;</div><div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;    tmp.<a class="code" href="../../d3/d7a/class_box_info.html#aeaecda58b04b05ff6e4f12e0a75eedaa">frame</a>[11] = 0.;</div><div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;    tmp.<a class="code" href="../../d3/d7a/class_box_info.html#aeaecda58b04b05ff6e4f12e0a75eedaa">frame</a>[15] = 1.;</div><div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;</div><div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i(0); i &lt; 3; ++i) {</div><div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> j(0); j &lt; 3; ++j) {</div><div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;        tmp.<a class="code" href="../../d3/d7a/class_box_info.html#aeaecda58b04b05ff6e4f12e0a75eedaa">frame</a>[4 * i + j] = ori(j, i);</div><div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;      }</div><div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;    }</div><div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i(0); i &lt; 3; ++i) tmp.<a class="code" href="../../d3/d7a/class_box_info.html#aeaecda58b04b05ff6e4f12e0a75eedaa">frame</a>[12 + i] = pos[i];</div><div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;</div><div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;    <a class="code" href="../../d1/d03/class_draw_list.html#a3f6ebf6b29e4ce63096a7b2b7bf7e634">_box_list</a>.push_back(tmp);</div><div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;  } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;    QMatrix4x4 offset;</div><div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;</div><div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;    <span class="comment">// scale box</span></div><div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;    offset.setToIdentity();</div><div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;    offset.scale(depth, width, height);</div><div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;    <a class="code" href="../../d1/d03/class_draw_list.html#ae25a70da628ea394f2ba1309532c74ed">_modelOffsets</a>.push_back(offset);</div><div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;</div><div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;    <span class="comment">// move box</span></div><div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;    offset.setToIdentity();</div><div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;    offset.translate(pos[0], pos[1], pos[2]);</div><div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;    <a class="code" href="../../d9/d8e/cpp_types_8h.html#a8686862774f7c3186c7920447f4de282">Quat&lt;double&gt;</a> q = <a class="code" href="../../da/d9b/namespaceori.html#a73c3872af6870d856cedd662856fcaea">ori::rotationMatrixToQuaternion</a>(ori.transpose());</div><div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;    QQuaternion qq(q[0], q[1], q[2], q[3]);</div><div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;    offset.rotate(qq);</div><div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;</div><div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;    <a class="code" href="../../d1/d03/class_draw_list.html#aae457f1b062620bc3a23d94d9397a49b">_kinematicXform</a>.push_back(offset);</div><div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;</div><div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;    <a class="code" href="../../d9/da5/struct_solid_color.html">SolidColor</a> boxColor;</div><div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;    boxColor.<a class="code" href="../../d9/da5/struct_solid_color.html#adc4e36b1041c32cb7f421da84c9f0fe5">rgba</a> = <a class="code" href="../../d9/d8e/cpp_types_8h.html#a738072d0d6a7a632be68f6261501826b">Vec4&lt;float&gt;</a>(<a class="code" href="../../dc/daa/_colors_8h.html#aca0db2f017237817ca87b94ac518ab7e">disgustingGreen</a>[0], disgustingGreen[1],</div><div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;                                disgustingGreen[2], 1.f);</div><div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;    boxColor.<a class="code" href="../../d9/da5/struct_solid_color.html#a0ca2ec6cd9c381c967ce213d425fae39">useSolidColor</a> = <span class="keyword">true</span>;</div><div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;    <a class="code" href="../../d1/d03/class_draw_list.html#ad7d97925f1406d116bbbb31f53c2da88">_instanceColor</a>.push_back(boxColor);</div><div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;</div><div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;    <a class="code" href="../../d1/d03/class_draw_list.html#a628aebbc6b46de8b1ab493cbe9ab7d89">_nTotal</a>++;</div><div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;    <a class="code" href="../../d1/d03/class_draw_list.html#a898088086b85b7f6a37b9237fbcc5ab6">_objectMap</a>.push_back(<a class="code" href="../../d1/d03/class_draw_list.html#ab7b145e8b2cf992be852dde3a4c7a9c8">_cubeLoadIndex</a>);</div><div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;  }</div><div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;}</div><div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;</div><div class="line"><a name="l00338"></a><span class="lineno"><a class="line" href="../../d1/d03/class_draw_list.html#a7e274d87788b859c9099a6b398116304">  338</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="../../d1/d03/class_draw_list.html#a7e274d87788b859c9099a6b398116304">DrawList::addMesh</a>(<span class="keywordtype">double</span> grid_size, <span class="keyword">const</span> <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;double&gt;</a>&amp; left_corner,</div><div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;                       <span class="keyword">const</span> <a class="code" href="../../d9/d8e/cpp_types_8h.html#a807200f3771dbd2cb2e4be52c5f2518c">DMat&lt;double&gt;</a>&amp; height_map, <span class="keywordtype">bool</span> transparent) {</div><div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;  (void)transparent;</div><div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;</div><div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;  <a class="code" href="../../d1/d03/class_draw_list.html#a58cc4ca2783638cc6f62d87be65895db">_grid_size</a> = grid_size;</div><div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;  <a class="code" href="../../d1/d03/class_draw_list.html#a77a0e0b4a883ba3e98603d06b6ba4a92">_height_map_left_corner</a> = left_corner;</div><div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;  <a class="code" href="../../d1/d03/class_draw_list.html#ad2b7998adf8f854f7f76baab2e9be030">_height_map</a> = height_map;</div><div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;  <a class="code" href="../../d1/d03/class_draw_list.html#a4ba48bfeb0767c9449fbd1f99a4f5f38">_height_map_min</a> = 1.e5;</div><div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;  <a class="code" href="../../d1/d03/class_draw_list.html#aa61f1469fb2e317cad8b916a9ac88527">_height_map_max</a> = -1.e5;</div><div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;</div><div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i(0); i &lt; height_map.rows(); ++i) {</div><div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j(0); j &lt; height_map.cols(); ++j) {</div><div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;      <span class="keywordflow">if</span> (height_map(i, j) &gt; <a class="code" href="../../d1/d03/class_draw_list.html#aa61f1469fb2e317cad8b916a9ac88527">_height_map_max</a>) {</div><div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;        <a class="code" href="../../d1/d03/class_draw_list.html#aa61f1469fb2e317cad8b916a9ac88527">_height_map_max</a> = height_map(i, j);</div><div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;      }</div><div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;      <span class="keywordflow">if</span> (height_map(i, j) &lt; <a class="code" href="../../d1/d03/class_draw_list.html#a4ba48bfeb0767c9449fbd1f99a4f5f38">_height_map_min</a>) {</div><div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;        <a class="code" href="../../d1/d03/class_draw_list.html#a4ba48bfeb0767c9449fbd1f99a4f5f38">_height_map_min</a> = height_map(i, j);</div><div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;      }</div><div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;    }</div><div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;  }</div><div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;}</div><div class="ttc" id="_colors_8h_html_aca0db2f017237817ca87b94ac518ab7e"><div class="ttname"><a href="../../dc/daa/_colors_8h.html#aca0db2f017237817ca87b94ac518ab7e">disgustingGreen</a></div><div class="ttdeci">static constexpr float disgustingGreen[]</div><div class="ttdef"><b>Definition:</b> <a href="../../dc/daa/_colors_8h_source.html#l00012">Colors.h:12</a></div></div>
<div class="ttc" id="class_draw_list_html_a7e274d87788b859c9099a6b398116304"><div class="ttname"><a href="../../d1/d03/class_draw_list.html#a7e274d87788b859c9099a6b398116304">DrawList::addMesh</a></div><div class="ttdeci">void addMesh(double grid_size, const Vec3&lt; double &gt; &amp;left_corner, const DMat&lt; double &gt; &amp;height_map, bool transparent)</div><div class="ttdef"><b>Definition:</b> <a href="../../d1/d8b/_draw_list_8cpp_source.html#l00338">DrawList.cpp:338</a></div></div>
<div class="ttc" id="class_draw_list_html_a1b2d94c539ac6c6e1f4ec3fb859888c9"><div class="ttname"><a href="../../d1/d03/class_draw_list.html#a1b2d94c539ac6c6e1f4ec3fb859888c9">DrawList::addCheetah3</a></div><div class="ttdeci">size_t addCheetah3(Vec4&lt; float &gt; color, bool useOld)</div><div class="ttdef"><b>Definition:</b> <a href="../../d1/d8b/_draw_list_8cpp_source.html#l00048">DrawList.cpp:48</a></div></div>
<div class="ttc" id="class_draw_list_html_a41da73cb979627fe8979420c6f5f014b"><div class="ttname"><a href="../../d1/d03/class_draw_list.html#a41da73cb979627fe8979420c6f5f014b">DrawList::_glArrayOffsets</a></div><div class="ttdeci">std::vector&lt; size_t &gt; _glArrayOffsets</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d65/_draw_list_8h_source.html#l00292">DrawList.h:292</a></div></div>
<div class="ttc" id="class_draw_list_html_a92618f3f33e825129a15eaf918a51ed3"><div class="ttname"><a href="../../d1/d03/class_draw_list.html#a92618f3f33e825129a15eaf918a51ed3">DrawList::_normalData</a></div><div class="ttdeci">std::vector&lt; std::vector&lt; float &gt; &gt; _normalData</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d65/_draw_list_8h_source.html#l00284">DrawList.h:284</a></div></div>
<div class="ttc" id="class_box_info_html_af35d62dc18d3545d719a67132a314315"><div class="ttname"><a href="../../d3/d7a/class_box_info.html#af35d62dc18d3545d719a67132a314315">BoxInfo::height</a></div><div class="ttdeci">double height</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d65/_draw_list_8h_source.html#l00033">DrawList.h:33</a></div></div>
<div class="ttc" id="class_box_info_html_a5a645c5f04daa64c3a45112b8e654bf9"><div class="ttname"><a href="../../d3/d7a/class_box_info.html#a5a645c5f04daa64c3a45112b8e654bf9">BoxInfo::depth</a></div><div class="ttdeci">double depth</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d65/_draw_list_8h_source.html#l00033">DrawList.h:33</a></div></div>
<div class="ttc" id="class_draw_list_html_af0fc9c2f4849455032d374fa46cddb1c"><div class="ttname"><a href="../../d1/d03/class_draw_list.html#af0fc9c2f4849455032d374fa46cddb1c">DrawList::_colorData</a></div><div class="ttdeci">std::vector&lt; std::vector&lt; float &gt; &gt; _colorData</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d65/_draw_list_8h_source.html#l00285">DrawList.h:285</a></div></div>
<div class="ttc" id="class_draw_list_html_ab241d86da769852f39be6c5fb4018b9a"><div class="ttname"><a href="../../d1/d03/class_draw_list.html#ab241d86da769852f39be6c5fb4018b9a">DrawList::_nUnique</a></div><div class="ttdeci">size_t _nUnique</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d65/_draw_list_8h_source.html#l00282">DrawList.h:282</a></div></div>
<div class="ttc" id="cpp_types_8h_html_aa8cb424e643d476ea485238dad7c3e18"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 3 &gt; Mat3</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00054">cppTypes.h:54</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a807200f3771dbd2cb2e4be52c5f2518c"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a807200f3771dbd2cb2e4be52c5f2518c">DMat</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, Eigen::Dynamic, Eigen::Dynamic &gt; DMat</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00106">cppTypes.h:106</a></div></div>
<div class="ttc" id="class_draw_list_html_a6ad5e2e3e20f024d946f6401bff40db6"><div class="ttname"><a href="../../d1/d03/class_draw_list.html#a6ad5e2e3e20f024d946f6401bff40db6">DrawList::_reloadNeeded</a></div><div class="ttdeci">bool _reloadNeeded</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d65/_draw_list_8h_source.html#l00301">DrawList.h:301</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a8686862774f7c3186c7920447f4de282"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a8686862774f7c3186c7920447f4de282">Quat</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 4, 1 &gt; Quat</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00058">cppTypes.h:58</a></div></div>
<div class="ttc" id="class_draw_list_html_ace6ada04eae854e63363b6b0bb73aa5f"><div class="ttname"><a href="../../d1/d03/class_draw_list.html#ace6ada04eae854e63363b6b0bb73aa5f">DrawList::_glArraySizes</a></div><div class="ttdeci">std::vector&lt; size_t &gt; _glArraySizes</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d65/_draw_list_8h_source.html#l00293">DrawList.h:293</a></div></div>
<div class="ttc" id="class_draw_list_html_a16f13d471f1d2559b64e204b4e686589"><div class="ttname"><a href="../../d1/d03/class_draw_list.html#a16f13d471f1d2559b64e204b4e686589">DrawList::setSolidColor</a></div><div class="ttdeci">static void setSolidColor(std::vector&lt; float &gt; &amp;data, size_t size, float r, float g, float b)</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d65/_draw_list_8h_source.html#l00247">DrawList.h:247</a></div></div>
<div class="ttc" id="class_draw_list_html_a89c4a0327553343171fe6d948679f78c"><div class="ttname"><a href="../../d1/d03/class_draw_list.html#a89c4a0327553343171fe6d948679f78c">DrawList::addMiniCheetah</a></div><div class="ttdeci">size_t addMiniCheetah(Vec4&lt; float &gt; color, bool useOld)</div><div class="ttdef"><b>Definition:</b> <a href="../../d1/d8b/_draw_list_8cpp_source.html#l00129">DrawList.cpp:129</a></div></div>
<div class="ttc" id="class_checkerboard_html_a7da009b6e556e016815920ee968efa98"><div class="ttname"><a href="../../df/d89/class_checkerboard.html#a7da009b6e556e016815920ee968efa98">Checkerboard::computeVertices</a></div><div class="ttdeci">void computeVertices(std::vector&lt; float &gt; &amp;vertices, std::vector&lt; float &gt; &amp;normals, std::vector&lt; float &gt; &amp;colors)</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dfd/_checkerboard_8cpp_source.html#l00029">Checkerboard.cpp:29</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a6f07728c866b15ff0676a9b2ebfd2ba6"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 1 &gt; Vec3</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00026">cppTypes.h:26</a></div></div>
<div class="ttc" id="class_checkerboard_html_ac2684bd81769c83fbf0bf2f648a35488"><div class="ttname"><a href="../../df/d89/class_checkerboard.html#ac2684bd81769c83fbf0bf2f648a35488">Checkerboard::getSize</a></div><div class="ttdeci">const float * getSize()</div><div class="ttdef"><b>Definition:</b> <a href="../../dd/ddf/_checkerboard_8h_source.html#l00034">Checkerboard.h:34</a></div></div>
<div class="ttc" id="class_draw_list_html_ad45340cafc75f87ba4f9b90c8f77842c"><div class="ttname"><a href="../../d1/d03/class_draw_list.html#ad45340cafc75f87ba4f9b90c8f77842c">DrawList::_miniCheetahLoadIndex</a></div><div class="ttdeci">size_t _miniCheetahLoadIndex</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d65/_draw_list_8h_source.html#l00317">DrawList.h:317</a></div></div>
<div class="ttc" id="_colors_8h_html_a6b2a4b96f76b3e341cb6fe1b903d7aa0"><div class="ttname"><a href="../../dc/daa/_colors_8h.html#a6b2a4b96f76b3e341cb6fe1b903d7aa0">defaultRobotColor</a></div><div class="ttdeci">static constexpr float defaultRobotColor[]</div><div class="ttdef"><b>Definition:</b> <a href="../../dc/daa/_colors_8h_source.html#l00015">Colors.h:15</a></div></div>
<div class="ttc" id="class_draw_list_html_af096ad7104a7736270eb50ae519497e4"><div class="ttname"><a href="../../d1/d03/class_draw_list.html#af096ad7104a7736270eb50ae519497e4">DrawList::addDebugSphere</a></div><div class="ttdeci">size_t addDebugSphere(float radius)</div><div class="ttdef"><b>Definition:</b> <a href="../../d1/d8b/_draw_list_8cpp_source.html#l00247">DrawList.cpp:247</a></div></div>
<div class="ttc" id="obj__loader_8h_html_af0c13a542631bc5a1d069bb4e3c81f1a"><div class="ttname"><a href="../../d3/d01/obj__loader_8h.html#af0c13a542631bc5a1d069bb4e3c81f1a">load_obj_file</a></div><div class="ttdeci">void load_obj_file(std::string fileName, std::vector&lt; float &gt; &amp;positions, std::vector&lt; float &gt; &amp;normals)</div><div class="ttdef"><b>Definition:</b> <a href="../../d1/d48/obj__loader_8cpp_source.html#l00019">obj_loader.cpp:19</a></div></div>
<div class="ttc" id="class_draw_list_html_aa61f1469fb2e317cad8b916a9ac88527"><div class="ttname"><a href="../../d1/d03/class_draw_list.html#aa61f1469fb2e317cad8b916a9ac88527">DrawList::_height_map_max</a></div><div class="ttdeci">double _height_map_max</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d65/_draw_list_8h_source.html#l00313">DrawList.h:313</a></div></div>
<div class="ttc" id="class_draw_list_html_a9c2c9531b2de18e928fc8d0d20cfb4c7"><div class="ttname"><a href="../../d1/d03/class_draw_list.html#a9c2c9531b2de18e928fc8d0d20cfb4c7">DrawList::addBox</a></div><div class="ttdeci">void addBox(double depth, double width, double height, const Vec3&lt; double &gt; &amp;pos, const Mat3&lt; double &gt; &amp;ori, bool transparent)</div><div class="ttdef"><b>Definition:</b> <a href="../../d1/d8b/_draw_list_8cpp_source.html#l00288">DrawList.cpp:288</a></div></div>
<div class="ttc" id="class_draw_list_html_ad7d97925f1406d116bbbb31f53c2da88"><div class="ttname"><a href="../../d1/d03/class_draw_list.html#ad7d97925f1406d116bbbb31f53c2da88">DrawList::_instanceColor</a></div><div class="ttdeci">vectorAligned&lt; SolidColor &gt; _instanceColor</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d65/_draw_list_8h_source.html#l00278">DrawList.h:278</a></div></div>
<div class="ttc" id="_colors_8h_html_a81bfc1a5e34197f972f21ae97cb7c073"><div class="ttname"><a href="../../dc/daa/_colors_8h.html#a81bfc1a5e34197f972f21ae97cb7c073">debugRedColor</a></div><div class="ttdeci">static constexpr float debugRedColor[]</div><div class="ttdef"><b>Definition:</b> <a href="../../dc/daa/_colors_8h_source.html#l00016">Colors.h:16</a></div></div>
<div class="ttc" id="_draw_list_8h_html"><div class="ttname"><a href="../../df/d65/_draw_list_8h.html">DrawList.h</a></div><div class="ttdoc">Data structure to store robot model to be drawn. </div></div>
<div class="ttc" id="class_draw_list_html_a1d0a9f2596e5ade6c5be2668151c9e90"><div class="ttname"><a href="../../d1/d03/class_draw_list.html#a1d0a9f2596e5ade6c5be2668151c9e90">DrawList::loadFiles</a></div><div class="ttdeci">void loadFiles()</div><div class="ttdef"><b>Definition:</b> <a href="../../d1/d8b/_draw_list_8cpp_source.html#l00010">DrawList.cpp:10</a></div></div>
<div class="ttc" id="class_draw_list_html_a3f6ebf6b29e4ce63096a7b2b7bf7e634"><div class="ttname"><a href="../../d1/d03/class_draw_list.html#a3f6ebf6b29e4ce63096a7b2b7bf7e634">DrawList::_box_list</a></div><div class="ttdeci">std::vector&lt; BoxInfo &gt; _box_list</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d65/_draw_list_8h_source.html#l00308">DrawList.h:308</a></div></div>
<div class="ttc" id="class_draw_list_html_aae457f1b062620bc3a23d94d9397a49b"><div class="ttname"><a href="../../d1/d03/class_draw_list.html#aae457f1b062620bc3a23d94d9397a49b">DrawList::_kinematicXform</a></div><div class="ttdeci">std::vector&lt; QMatrix4x4 &gt; _kinematicXform</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d65/_draw_list_8h_source.html#l00279">DrawList.h:279</a></div></div>
<div class="ttc" id="class_draw_list_html_a77a0e0b4a883ba3e98603d06b6ba4a92"><div class="ttname"><a href="../../d1/d03/class_draw_list.html#a77a0e0b4a883ba3e98603d06b6ba4a92">DrawList::_height_map_left_corner</a></div><div class="ttdeci">Vec3&lt; double &gt; _height_map_left_corner</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d65/_draw_list_8h_source.html#l00311">DrawList.h:311</a></div></div>
<div class="ttc" id="class_draw_list_html_ac0aef2cc2264ca1235162615896ea0ef"><div class="ttname"><a href="../../d1/d03/class_draw_list.html#ac0aef2cc2264ca1235162615896ea0ef">DrawList::_glColorData</a></div><div class="ttdeci">std::vector&lt; float &gt; _glColorData</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d65/_draw_list_8h_source.html#l00297">DrawList.h:297</a></div></div>
<div class="ttc" id="class_draw_list_html_ab7b145e8b2cf992be852dde3a4c7a9c8"><div class="ttname"><a href="../../d1/d03/class_draw_list.html#ab7b145e8b2cf992be852dde3a4c7a9c8">DrawList::_cubeLoadIndex</a></div><div class="ttdeci">size_t _cubeLoadIndex</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d65/_draw_list_8h_source.html#l00318">DrawList.h:318</a></div></div>
<div class="ttc" id="namespaceori_html_a73c3872af6870d856cedd662856fcaea"><div class="ttname"><a href="../../da/d9b/namespaceori.html#a73c3872af6870d856cedd662856fcaea">ori::rotationMatrixToQuaternion</a></div><div class="ttdeci">Quat&lt; typename T::Scalar &gt; rotationMatrixToQuaternion(const Eigen::MatrixBase&lt; T &gt; &amp;r1)</div><div class="ttdef"><b>Definition:</b> <a href="../../d4/dfb/orientation__tools_8h_source.html#l00119">orientation_tools.h:119</a></div></div>
<div class="ttc" id="class_checkerboard_html"><div class="ttname"><a href="../../df/d89/class_checkerboard.html">Checkerboard</a></div><div class="ttdef"><b>Definition:</b> <a href="../../dd/ddf/_checkerboard_8h_source.html#l00015">Checkerboard.h:15</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a738072d0d6a7a632be68f6261501826b"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a738072d0d6a7a632be68f6261501826b">Vec4</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 4, 1 &gt; Vec4</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00030">cppTypes.h:30</a></div></div>
<div class="ttc" id="class_draw_list_html_ad2b7998adf8f854f7f76baab2e9be030"><div class="ttname"><a href="../../d1/d03/class_draw_list.html#ad2b7998adf8f854f7f76baab2e9be030">DrawList::_height_map</a></div><div class="ttdeci">DMat&lt; double &gt; _height_map</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d65/_draw_list_8h_source.html#l00312">DrawList.h:312</a></div></div>
<div class="ttc" id="class_draw_list_html_a792c90bc3c128f684bd62928b24d2d38"><div class="ttname"><a href="../../d1/d03/class_draw_list.html#a792c90bc3c128f684bd62928b24d2d38">DrawList::buildDrawList</a></div><div class="ttdeci">void buildDrawList()</div><div class="ttdef"><b>Definition:</b> <a href="../../d1/d8b/_draw_list_8cpp_source.html#l00266">DrawList.cpp:266</a></div></div>
<div class="ttc" id="class_box_info_html_aeaecda58b04b05ff6e4f12e0a75eedaa"><div class="ttname"><a href="../../d3/d7a/class_box_info.html#aeaecda58b04b05ff6e4f12e0a75eedaa">BoxInfo::frame</a></div><div class="ttdeci">float frame[16]</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d65/_draw_list_8h_source.html#l00034">DrawList.h:34</a></div></div>
<div class="ttc" id="class_draw_list_html_a4ba48bfeb0767c9449fbd1f99a4f5f38"><div class="ttname"><a href="../../d1/d03/class_draw_list.html#a4ba48bfeb0767c9449fbd1f99a4f5f38">DrawList::_height_map_min</a></div><div class="ttdeci">double _height_map_min</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d65/_draw_list_8h_source.html#l00313">DrawList.h:313</a></div></div>
<div class="ttc" id="class_draw_list_html_a33ecd45565b8f5e0c197401ae123f41d"><div class="ttname"><a href="../../d1/d03/class_draw_list.html#a33ecd45565b8f5e0c197401ae123f41d">DrawList::_glNormalData</a></div><div class="ttdeci">std::vector&lt; float &gt; _glNormalData</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d65/_draw_list_8h_source.html#l00296">DrawList.h:296</a></div></div>
<div class="ttc" id="class_draw_list_html_a898088086b85b7f6a37b9237fbcc5ab6"><div class="ttname"><a href="../../d1/d03/class_draw_list.html#a898088086b85b7f6a37b9237fbcc5ab6">DrawList::_objectMap</a></div><div class="ttdeci">std::vector&lt; size_t &gt; _objectMap</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d65/_draw_list_8h_source.html#l00290">DrawList.h:290</a></div></div>
<div class="ttc" id="class_draw_list_html_af816f551087099f49eb2cadd26ce0d05"><div class="ttname"><a href="../../d1/d03/class_draw_list.html#af816f551087099f49eb2cadd26ce0d05">DrawList::_baseFileName</a></div><div class="ttdeci">std::string _baseFileName</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d65/_draw_list_8h_source.html#l00288">DrawList.h:288</a></div></div>
<div class="ttc" id="class_draw_list_html_a38970d37beb7a2dab2355cc718609aae"><div class="ttname"><a href="../../d1/d03/class_draw_list.html#a38970d37beb7a2dab2355cc718609aae">DrawList::_cheetah3LoadIndex</a></div><div class="ttdeci">size_t _cheetah3LoadIndex</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d65/_draw_list_8h_source.html#l00317">DrawList.h:317</a></div></div>
<div class="ttc" id="struct_solid_color_html"><div class="ttname"><a href="../../d9/da5/struct_solid_color.html">SolidColor</a></div><div class="ttdef"><b>Definition:</b> <a href="../../df/d65/_draw_list_8h_source.html#l00043">DrawList.h:43</a></div></div>
<div class="ttc" id="namespaceori_html"><div class="ttname"><a href="../../da/d9b/namespaceori.html">ori</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d4/dfb/orientation__tools_8h_source.html#l00028">orientation_tools.h:28</a></div></div>
<div class="ttc" id="class_box_info_html_a71d33a11829ce75ed6a2e3020dccf9fa"><div class="ttname"><a href="../../d3/d7a/class_box_info.html#a71d33a11829ce75ed6a2e3020dccf9fa">BoxInfo::width</a></div><div class="ttdeci">double width</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d65/_draw_list_8h_source.html#l00033">DrawList.h:33</a></div></div>
<div class="ttc" id="class_box_info_html"><div class="ttname"><a href="../../d3/d7a/class_box_info.html">BoxInfo</a></div><div class="ttdef"><b>Definition:</b> <a href="../../df/d65/_draw_list_8h_source.html#l00031">DrawList.h:31</a></div></div>
<div class="ttc" id="class_draw_list_html_a58cc4ca2783638cc6f62d87be65895db"><div class="ttname"><a href="../../d1/d03/class_draw_list.html#a58cc4ca2783638cc6f62d87be65895db">DrawList::_grid_size</a></div><div class="ttdeci">double _grid_size</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d65/_draw_list_8h_source.html#l00310">DrawList.h:310</a></div></div>
<div class="ttc" id="struct_solid_color_html_adc4e36b1041c32cb7f421da84c9f0fe5"><div class="ttname"><a href="../../d9/da5/struct_solid_color.html#adc4e36b1041c32cb7f421da84c9f0fe5">SolidColor::rgba</a></div><div class="ttdeci">EIGEN_MAKE_ALIGNED_OPERATOR_NEW Vec4&lt; float &gt; rgba</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d65/_draw_list_8h_source.html#l00045">DrawList.h:45</a></div></div>
<div class="ttc" id="class_draw_list_html_ac33dd1399010f7b75c05bb317d9b55fd"><div class="ttname"><a href="../../d1/d03/class_draw_list.html#ac33dd1399010f7b75c05bb317d9b55fd">DrawList::_glVertexData</a></div><div class="ttdeci">std::vector&lt; float &gt; _glVertexData</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d65/_draw_list_8h_source.html#l00295">DrawList.h:295</a></div></div>
<div class="ttc" id="class_draw_list_html_a628aebbc6b46de8b1ab493cbe9ab7d89"><div class="ttname"><a href="../../d1/d03/class_draw_list.html#a628aebbc6b46de8b1ab493cbe9ab7d89">DrawList::_nTotal</a></div><div class="ttdeci">size_t _nTotal</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d65/_draw_list_8h_source.html#l00282">DrawList.h:282</a></div></div>
<div class="ttc" id="struct_solid_color_html_a0ca2ec6cd9c381c967ce213d425fae39"><div class="ttname"><a href="../../d9/da5/struct_solid_color.html#a0ca2ec6cd9c381c967ce213d425fae39">SolidColor::useSolidColor</a></div><div class="ttdeci">bool useSolidColor</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d65/_draw_list_8h_source.html#l00046">DrawList.h:46</a></div></div>
<div class="ttc" id="class_draw_list_html_a1df4a5846120d050f009a8736424f221"><div class="ttname"><a href="../../d1/d03/class_draw_list.html#a1df4a5846120d050f009a8736424f221">DrawList::addCheckerboard</a></div><div class="ttdeci">size_t addCheckerboard(Checkerboard &amp;checkerBoard)</div><div class="ttdef"><b>Definition:</b> <a href="../../d1/d8b/_draw_list_8cpp_source.html#l00215">DrawList.cpp:215</a></div></div>
<div class="ttc" id="class_draw_list_html_a9ff0790fe3a16cc5fee352c4116414ac"><div class="ttname"><a href="../../d1/d03/class_draw_list.html#a9ff0790fe3a16cc5fee352c4116414ac">DrawList::_sphereLoadIndex</a></div><div class="ttdeci">size_t _sphereLoadIndex</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d65/_draw_list_8h_source.html#l00318">DrawList.h:318</a></div></div>
<div class="ttc" id="class_draw_list_html_ae25a70da628ea394f2ba1309532c74ed"><div class="ttname"><a href="../../d1/d03/class_draw_list.html#ae25a70da628ea394f2ba1309532c74ed">DrawList::_modelOffsets</a></div><div class="ttdeci">std::vector&lt; QMatrix4x4 &gt; _modelOffsets</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d65/_draw_list_8h_source.html#l00299">DrawList.h:299</a></div></div>
<div class="ttc" id="test__casadi_8cpp_html_ae20d7fba59865a21504b65cdb44cbfe5"><div class="ttname"><a href="../../dc/dd7/test__casadi_8cpp.html#ae20d7fba59865a21504b65cdb44cbfe5">f</a></div><div class="ttdeci">MX f(const MX &amp;x, const MX &amp;u)</div><div class="ttdef"><b>Definition:</b> <a href="../../dc/dd7/test__casadi_8cpp_source.html#l00202">test_casadi.cpp:202</a></div></div>
<div class="ttc" id="class_draw_list_html_aac717d947f5534d6a8e3bbec220c5e42"><div class="ttname"><a href="../../d1/d03/class_draw_list.html#aac717d947f5534d6a8e3bbec220c5e42">DrawList::_vertexData</a></div><div class="ttdeci">std::vector&lt; std::vector&lt; float &gt; &gt; _vertexData</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d65/_draw_list_8h_source.html#l00283">DrawList.h:283</a></div></div>
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